2 * Copyright (C) 2014-2015 Intel Corporation.
10 #include <hardware/sensors.h>
11 #include "enumeration.h"
12 #include "description.h"
14 #include "transform.h"
15 #include "description.h"
17 #include "calibration.h"
20 * This table maps syfs entries in scan_elements directories to sensor types,
21 * and will also be used to determine other sysfs names as well as the iio
22 * device number associated to a specific sensor.
26 * We duplicate entries for the uncalibrated types after their respective base
27 * sensor. This is because all sensor entries must have an associated catalog entry
28 * and also because when only the uncal sensor is active it needs to take it's data
29 * from the same iio device as the base one.
32 sensor_catalog_entry_t sensor_catalog[] = {
35 .type = SENSOR_TYPE_ACCELEROMETER,
39 { DECLARE_NAMED_CHANNEL("accel", "x") },
40 { DECLARE_NAMED_CHANNEL("accel", "y") },
41 { DECLARE_NAMED_CHANNEL("accel", "z") },
46 .type = SENSOR_TYPE_GYROSCOPE,
50 { DECLARE_NAMED_CHANNEL("anglvel", "x") },
51 { DECLARE_NAMED_CHANNEL("anglvel", "y") },
52 { DECLARE_NAMED_CHANNEL("anglvel", "z") },
57 .type = SENSOR_TYPE_MAGNETIC_FIELD,
61 { DECLARE_NAMED_CHANNEL("magn", "x") },
62 { DECLARE_NAMED_CHANNEL("magn", "y") },
63 { DECLARE_NAMED_CHANNEL("magn", "z") },
68 .type = SENSOR_TYPE_LIGHT,
72 { DECLARE_NAMED_CHANNEL("intensity", "both") },
77 .type = SENSOR_TYPE_LIGHT,
81 { DECLARE_GENERIC_CHANNEL("illuminance") },
86 .type = SENSOR_TYPE_ORIENTATION,
90 { DECLARE_NAMED_CHANNEL("incli", "x") },
91 { DECLARE_NAMED_CHANNEL("incli", "y") },
92 { DECLARE_NAMED_CHANNEL("incli", "z") },
97 .type = SENSOR_TYPE_ROTATION_VECTOR,
101 { DECLARE_NAMED_CHANNEL("rot", "quat_x") },
102 { DECLARE_NAMED_CHANNEL("rot", "quat_y") },
103 { DECLARE_NAMED_CHANNEL("rot", "quat_z") },
104 { DECLARE_NAMED_CHANNEL("rot", "quat_w") },
109 .type = SENSOR_TYPE_AMBIENT_TEMPERATURE,
113 { DECLARE_GENERIC_CHANNEL("temp") },
118 .type = SENSOR_TYPE_PROXIMITY,
122 { DECLARE_GENERIC_CHANNEL("proximity") },
127 .type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
131 { DECLARE_GENERIC_CHANNEL("") },
137 .type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
141 { DECLARE_GENERIC_CHANNEL("") },
146 .type = SENSOR_TYPE_STEP_COUNTER,
150 { DECLARE_GENERIC_CHANNEL("steps") },
155 .type = SENSOR_TYPE_STEP_DETECTOR,
160 DECLARE_VOID_CHANNEL("steps")
163 { DECLARE_NAMED_EVENT("steps", "change") },
170 unsigned int catalog_size = ARRAY_SIZE(sensor_catalog);
172 /* ACPI PLD (physical location of device) definitions, as used with sensors */
174 #define PANEL_FRONT 4
177 /* We equate sensor handles to indices in these tables */
179 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
180 sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
181 int sensor_count; /* Detected sensors */
184 /* if the sensor has an _en attribute, we need to enable it */
185 int get_needs_enable(int dev_num, const char *tag)
187 char sysfs_path[PATH_MAX];
190 sprintf(sysfs_path, SENSOR_ENABLE_PATH, dev_num, tag);
192 fd = open(sysfs_path, O_RDWR);
200 static void setup_properties_from_pld (int s, int panel, int rotation,
204 * Generate suitable order and opt_scale directives from the PLD panel
205 * and rotation codes we got. This can later be superseded by the usual
206 * properties if necessary. Eventually we'll need to replace these
207 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
214 int angle = rotation * 45;
216 /* Only deal with 3 axis chips for now */
217 if (num_channels < 3)
220 if (panel == PANEL_BACK) {
221 /* Chip placed on the back panel ; negate x and z */
227 case 90: /* 90° clockwise: negate y then swap x,y */
232 case 180: /* Upside down: negate x and y */
237 case 270: /* 90° counter clockwise: negate x then swap x,y */
244 sensor[s].order[0] = 1;
245 sensor[s].order[1] = 0;
246 sensor[s].order[2] = 2;
247 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
250 sensor[s].channel[0].opt_scale = x;
251 sensor[s].channel[1].opt_scale = y;
252 sensor[s].channel[2].opt_scale = z;
256 static int is_valid_pld (int panel, int rotation)
258 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
259 ALOGW("Unhandled PLD panel spec: %d\n", panel);
263 /* Only deal with 90° rotations for now */
264 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
265 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
273 static int read_pld_from_properties (int s, int* panel, int* rotation)
277 if (sensor_get_prop(s, "panel", &p))
280 if (sensor_get_prop(s, "rotation", &r))
283 if (!is_valid_pld(p, r))
289 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
295 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
297 char sysfs_path[PATH_MAX];
300 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
302 if (sysfs_read_int(sysfs_path, &p))
305 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
307 if (sysfs_read_int(sysfs_path, &r))
310 if (!is_valid_pld(p, r))
316 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
322 static void decode_placement_information (int dev_num, int num_channels, int s)
325 * See if we have optional "physical location of device" ACPI tags.
326 * We're only interested in panel and rotation specifiers. Use the
327 * .panel and .rotation properties in priority, and the actual ACPI
328 * values as a second source.
334 if (read_pld_from_properties(s, &panel, &rotation) &&
335 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
336 return; /* No PLD data available */
338 /* Map that to field ordering and scaling mechanisms */
339 setup_properties_from_pld(s, panel, rotation, num_channels);
343 static void populate_descriptors (int s, int sensor_type)
345 int32_t min_delay_us;
346 max_delay_t max_delay_us;
348 /* Initialize Android-visible descriptor */
349 sensor_desc[s].name = sensor_get_name(s);
350 sensor_desc[s].vendor = sensor_get_vendor(s);
351 sensor_desc[s].version = sensor_get_version(s);
352 sensor_desc[s].handle = s;
353 sensor_desc[s].type = sensor_type;
355 sensor_desc[s].maxRange = sensor_get_max_range(s);
356 sensor_desc[s].resolution = sensor_get_resolution(s);
357 sensor_desc[s].power = sensor_get_power(s);
358 sensor_desc[s].stringType = sensor_get_string_type(s);
360 /* None of our supported sensors requires a special permission */
361 sensor_desc[s].requiredPermission = "";
363 sensor_desc[s].flags = sensor_get_flags(s);
364 sensor_desc[s].minDelay = sensor_get_min_delay(s);
365 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
367 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
368 s, sensor[s].friendly_name, sensor_desc[s].type,
369 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
370 sensor_desc[s].flags);
372 /* We currently do not implement batching */
373 sensor_desc[s].fifoReservedEventCount = 0;
374 sensor_desc[s].fifoMaxEventCount = 0;
376 min_delay_us = sensor_desc[s].minDelay;
377 max_delay_us = sensor_desc[s].maxDelay;
379 sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
380 sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
384 static void add_virtual_sensor (int catalog_index)
389 if (sensor_count == MAX_SENSORS) {
390 ALOGE("Too many sensors!\n");
394 sensor_type = sensor_catalog[catalog_index].type;
398 sensor[s].is_virtual = 1;
399 sensor[s].catalog_index = catalog_index;
400 sensor[s].type = sensor_type;
402 populate_descriptors(s, sensor_type);
404 /* Initialize fields related to sysfs reads offloading */
405 sensor[s].thread_data_fd[0] = -1;
406 sensor[s].thread_data_fd[1] = -1;
407 sensor[s].acquisition_thread = -1;
413 static void add_sensor (int dev_num, int catalog_index, int mode)
418 char sysfs_path[PATH_MAX];
425 char suffix[MAX_NAME_SIZE + 8];
428 if (sensor_count == MAX_SENSORS) {
429 ALOGE("Too many sensors!\n");
433 sensor_type = sensor_catalog[catalog_index].type;
436 * At this point we could check that the expected sysfs attributes are
437 * present ; that would enable having multiple catalog entries with the
438 * same sensor type, accomodating different sets of sysfs attributes.
443 sensor[s].dev_num = dev_num;
444 sensor[s].catalog_index = catalog_index;
445 sensor[s].type = sensor_type;
446 sensor[s].mode = mode;
448 num_channels = sensor_catalog[catalog_index].num_channels;
450 if (mode == MODE_POLL)
451 sensor[s].num_channels = 0;
453 sensor[s].num_channels = num_channels;
455 prefix = sensor_catalog[catalog_index].tag;
458 * receiving the illumination sensor calibration inputs from
459 * the Android properties and setting it within sysfs
461 if (sensor_type == SENSOR_TYPE_LIGHT) {
462 retval = sensor_get_illumincalib(s);
464 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
465 sysfs_write_int(sysfs_path, retval);
470 * See if we have optional calibration biases for each of the channels of this sensor. These would be expressed using properties like
471 * iio.accel.y.calib_bias = -1, or possibly something like iio.temp.calib_bias if the sensor has a single channel. This value gets stored in the
472 * relevant calibbias sysfs file if that file can be located and then used internally by the iio sensor driver.
476 for (c = 0; c < num_channels; c++) {
477 ch_name = sensor_catalog[catalog_index].channel[c].name;
478 sprintf(suffix, "%s.calib_bias", ch_name);
479 if (!sensor_get_prop(s, suffix, &calib_bias) && calib_bias) {
480 sprintf(suffix, "%s_%s", prefix, sensor_catalog[catalog_index].channel[c].name);
481 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, suffix);
482 sysfs_write_int(sysfs_path, calib_bias);
486 if (!sensor_get_prop(s, "calib_bias", &calib_bias) && calib_bias) {
487 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, prefix);
488 sysfs_write_int(sysfs_path, calib_bias);
491 /* Read name attribute, if available */
492 sprintf(sysfs_path, NAME_PATH, dev_num);
493 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
495 /* See if we have general offsets and scale values for this sensor */
497 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
498 sysfs_read_float(sysfs_path, &sensor[s].offset);
500 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
501 if (!sensor_get_fl_prop(s, "scale", &scale)) {
503 * There is a chip preferred scale specified,
504 * so try to store it in sensor's scale file
506 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
507 ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
508 /* Store failed, try to store the scale into channel specific file */
509 for (c = 0; c < num_channels; c++)
511 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
512 sensor_catalog[catalog_index].channel[c].scale_path);
513 if (sysfs_write_float(sysfs_path, scale) == -1)
514 ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
519 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
520 if (!sysfs_read_float(sysfs_path, &scale)) {
521 sensor[s].scale = scale;
522 ALOGV("Scale path:%s scale:%g dev_num:%d\n",
523 sysfs_path, scale, dev_num);
527 /* Read channel specific scale if any*/
528 for (c = 0; c < num_channels; c++)
530 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
531 sensor_catalog[catalog_index].channel[c].scale_path);
533 if (!sysfs_read_float(sysfs_path, &scale)) {
534 sensor[s].channel[c].scale = scale;
537 ALOGV( "Scale path:%s "
538 "channel scale:%g dev_num:%d\n",
539 sysfs_path, scale, dev_num);
544 /* Set default scaling - if num_channels is zero, we have one channel */
546 sensor[s].channel[0].opt_scale = 1;
548 for (c = 1; c < num_channels; c++)
549 sensor[s].channel[c].opt_scale = 1;
551 for (c = 0; c < num_channels; c++) {
552 /* Check the presence of the channel's input_path */
553 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
554 sensor_catalog[catalog_index].channel[c].input_path);
555 sensor[s].channel[c].input_path_present = (access(sysfs_path, R_OK) != -1);
556 /* Check the presence of the channel's raw_path */
557 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
558 sensor_catalog[catalog_index].channel[c].raw_path);
559 sensor[s].channel[c].raw_path_present = (access(sysfs_path, R_OK) != -1);
562 /* Read ACPI _PLD attributes for this sensor, if there are any */
563 decode_placement_information(dev_num, num_channels, s);
566 * See if we have optional correction scaling factors for each of the
567 * channels of this sensor. These would be expressed using properties
568 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
569 * support things such as iio.temp.opt_scale = -1. Note that this works
570 * for all types of sensors, and whatever transform is selected, on top
571 * of any previous conversions.
575 for (c = 0; c < num_channels; c++) {
576 ch_name = sensor_catalog[catalog_index].channel[c].name;
577 sprintf(suffix, "%s.opt_scale", ch_name);
578 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
579 sensor[s].channel[c].opt_scale = opt_scale;
582 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
583 sensor[s].channel[0].opt_scale = opt_scale;
585 populate_descriptors(s, sensor_type);
587 /* Populate the quirks array */
588 sensor_get_quirks(s);
590 if (sensor[s].internal_name[0] == '\0') {
592 * In case the kernel-mode driver doesn't expose a name for
593 * the iio device, use (null)-dev%d as the trigger name...
594 * This can be considered a kernel-mode iio driver bug.
596 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
597 strcpy(sensor[s].internal_name, "(null)");
600 switch (sensor_type) {
601 case SENSOR_TYPE_GYROSCOPE:
602 sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
605 case SENSOR_TYPE_MAGNETIC_FIELD:
606 sensor[s].cal_data = malloc(sizeof(compass_cal_t));
610 sensor[s].max_cal_level = sensor_get_cal_steps(s);
612 /* Select one of the available sensor sample processing styles */
615 /* Initialize fields related to sysfs reads offloading */
616 sensor[s].thread_data_fd[0] = -1;
617 sensor[s].thread_data_fd[1] = -1;
618 sensor[s].acquisition_thread = -1;
620 /* Check if we have a special ordering property on this sensor */
621 if (sensor_get_order(s, sensor[s].order))
622 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
624 sensor[s].needs_enable = get_needs_enable(dev_num, sensor_catalog[catalog_index].tag);
629 static void virtual_sensors_check (void)
637 int gyro_cal_idx = 0;
638 int magn_cal_idx = 0;
641 for (i=0; i<sensor_count; i++)
642 switch (sensor[i].type) {
643 case SENSOR_TYPE_ACCELEROMETER:
646 case SENSOR_TYPE_GYROSCOPE:
650 case SENSOR_TYPE_MAGNETIC_FIELD:
654 case SENSOR_TYPE_ORIENTATION:
657 case SENSOR_TYPE_ROTATION_VECTOR:
662 for (j=0; j<catalog_size; j++)
663 switch (sensor_catalog[j].type) {
665 * If we have accel + gyro + magn but no rotation vector sensor,
666 * SensorService replaces the HAL provided orientation sensor by the
667 * AOSP version... provided we report one. So initialize a virtual
668 * orientation sensor with zero values, which will get replaced. See:
669 * frameworks/native/services/sensorservice/SensorService.cpp, looking
670 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
671 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
674 case SENSOR_TYPE_ORIENTATION:
675 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
676 add_sensor(0, j, MODE_POLL);
678 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
680 sensor[sensor_count].base_count = 1;
681 sensor[sensor_count].base[0] = gyro_cal_idx;
682 add_virtual_sensor(j);
685 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
687 sensor[sensor_count].base_count = 1;
688 sensor[sensor_count].base[0] = magn_cal_idx;
689 add_virtual_sensor(j);
698 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
702 * A new trigger has been enumerated for this sensor. Check if it makes sense to use it over the currently selected one,
703 * and select it if it is so. The format is something like sensor_name-dev0.
706 const char *suffix = trigger_name + sensor_name_len + 1;
708 /* dev is the default, and lowest priority; no need to update */
709 if (!memcmp(suffix, "dev", 3))
712 /* If we found any-motion trigger, record it */
714 if (!memcmp(suffix, "any-motion-", 11)) {
715 strcpy(sensor[s].motion_trigger_name, trigger_name);
720 * It's neither the default "dev" nor an "any-motion" one. Make sure we use this though, as we may not have any other indication of the name
721 * of the trigger to use with this sensor.
723 strcpy(sensor[s].init_trigger_name, trigger_name);
727 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
730 * Check if we have a sensor matching the specified trigger name, which should then begin with the sensor name, and end with a number
731 * equal to the iio device number the sensor is associated to. If so, update the string we're going to write to trigger/current_trigger
732 * when enabling this sensor.
742 * First determine the iio device number this trigger refers to. We expect the last few characters (typically one) of the trigger name
743 * to be this number, so perform a few checks.
745 len = strnlen(name, MAX_NAME_SIZE);
750 cursor = name + len - 1;
752 if (!isdigit(*cursor))
755 while (len && isdigit(*cursor)) {
760 dev_num = atoi(cursor+1);
762 /* See if that matches a sensor */
763 for (s=0; s<sensor_count; s++)
764 if (sensor[s].dev_num == dev_num) {
766 sensor_name_len = strlen(sensor[s].internal_name);
768 if (!strncmp(name, sensor[s].internal_name, sensor_name_len))
769 /* Switch to new trigger if appropriate */
770 propose_new_trigger(s, name, sensor_name_len);
775 static void setup_trigger_names (void)
777 char filename[PATH_MAX];
778 char buf[MAX_NAME_SIZE];
783 /* By default, use the name-dev convention that most drivers use */
784 for (s=0; s<sensor_count; s++)
785 snprintf(sensor[s].init_trigger_name, MAX_NAME_SIZE, "%s-dev%d", sensor[s].internal_name, sensor[s].dev_num);
787 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
789 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
791 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
793 ret = sysfs_read_str(filename, buf, sizeof(buf));
798 /* Record initial and any-motion triggers names */
799 update_sensor_matching_trigger_name(buf);
803 * Certain drivers expose only motion triggers even though they should be continous. For these, use the default trigger name as the motion
804 * trigger. The code generating intermediate events is dependent on motion_trigger_name being set to a non empty string.
807 for (s=0; s<sensor_count; s++)
808 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].motion_trigger_name[0] == '\0')
809 strcpy(sensor[s].motion_trigger_name, sensor[s].init_trigger_name);
811 for (s=0; s<sensor_count; s++)
812 if (sensor[s].mode == MODE_TRIGGER) {
813 ALOGI("Sensor %d (%s) default trigger: %s\n", s, sensor[s].friendly_name, sensor[s].init_trigger_name);
814 if (sensor[s].motion_trigger_name[0])
815 ALOGI("Sensor %d (%s) motion trigger: %s\n", s, sensor[s].friendly_name, sensor[s].motion_trigger_name);
819 void enumerate_sensors (void)
822 * Discover supported sensors and allocate control structures for them. Multiple sensors can potentially rely on a single iio device (each
823 * using their own channels). We can't have multiple sensors of the same type on the same device. In case of detection as both a poll-mode
824 * and trigger-based sensor, use the trigger usage mode.
826 char poll_sensors[catalog_size];
827 char trig_sensors[catalog_size];
828 char event_sensors[catalog_size];
833 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
836 discover_sensors(dev_num, BASE_PATH, poll_sensors, check_poll_sensors);
837 discover_sensors(dev_num, CHANNEL_PATH, trig_sensors, check_trig_sensors);
838 discover_sensors(dev_num, EVENTS_PATH, event_sensors, check_event_sensors);
840 for (i=0; i<catalog_size; i++) {
841 if (event_sensors[i]) {
842 add_sensor(dev_num, i, MODE_EVENT);
845 if (trig_sensors[i]) {
846 add_sensor(dev_num, i, MODE_TRIGGER);
850 if (poll_sensors[i]) {
851 add_sensor(dev_num, i, MODE_POLL);
857 build_sensor_report_maps(dev_num);
860 ALOGI("Discovered %d sensors\n", sensor_count);
862 /* Set up default - as well as custom - trigger names */
863 setup_trigger_names();
865 virtual_sensors_check();
869 void delete_enumeration_data (void)
872 for (i = 0; i < sensor_count; i++)
873 if (sensor[i].cal_data) {
874 free(sensor[i].cal_data);
875 sensor[i].cal_data = NULL;
876 sensor[i].cal_level = 0;
879 /* Reset sensor count */
884 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
885 struct sensor_t const** list)